CN105697663A - Mechanical device for applying harmonic reducer to bothway transmission - Google Patents
Mechanical device for applying harmonic reducer to bothway transmission Download PDFInfo
- Publication number
- CN105697663A CN105697663A CN201610165244.4A CN201610165244A CN105697663A CN 105697663 A CN105697663 A CN 105697663A CN 201610165244 A CN201610165244 A CN 201610165244A CN 105697663 A CN105697663 A CN 105697663A
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- China
- Prior art keywords
- speed reducer
- positioning chuck
- harmonic speed
- harmonic
- chuck
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Retarders (AREA)
Abstract
The invention provides a mechanical device for applying a harmonic reducer to bothway transmission. The mechanical device comprises a motor, a box, a switching mechanism, a clamping mechanism, a harmonic reduction mechanism, a bearing and a coupler. The mechanical device can be applied to a mechanical system needing bothway transmission. When an output shaft of the harmonic reducer serves as the input end to do reverse transmission, a wave generator, a flexible gear and a rigid gear of the harmonic reducer are locked through the clamping mechanism, the harmonic reducer is not connected with the box, and the harmonic reducer does not have the speed changing effect at the time and is equivalent to a coupler with the transmission ratio being 1:1. System power passes through the harmonic reduction mechanism and is not influenced by the reduction ratio of the harmonic reduction mechanism, and therefore the dragging resistance is smaller; and when the mechanical system uses an output shaft of the motor as the input end to do forward transmission, the locking state of the wave generator, the flexible gear and the rigid gear of the harmonic reducer can be ended through the switching mechanism, meanwhile the harmonic reducer is installed on the box, the system power is subject to the reduction ratio effect of the harmonic reduction mechanism, and therefore the large output torque can be obtained.
Description
Technical field
The present invention relates to a kind of harmonic speed reducer that realizes and be applied to the machinery of Bidirectional driving。
Background technology
Harmonic speed reducer is a kind of novel mechanical drive speed change mechanism, and compared with ordinary gear transmission, it is little that it has volume, lightweight, and gear range is big, and transmission efficiency is high, and transmission accuracy is high, and the features such as bearing capacity is strong can be widely used for multiple field。But, harmonic speed reducer is applied to do the mechanical system of Bidirectional driving and has difficulties, such as the drive system of teach-by-doing teaching baking with Self-study Ability robot。When mechanical system does reverse transmission, bigger decelerator gear ratio can make to meet obstructions excessive during artificial guided robot action and cause dragging difficulty。Therefore, existing technical scheme only adopts the decelerator of underneath drive ratio, and its cost is used to relatively costly slow-speed of revolution high torque motor。
Summary of the invention
For the deficiencies in the prior art, the purpose of the present invention aims to provide a kind of harmonic speed reducer that is capable of and is applied to the machinery of Bidirectional driving, by using this device, when making the decelerator being provided with high transmission ratio between joint shaft and motor, under the premise not needing slow-speed of revolution high torque motor that use cost is higher, it is possible to avoid equipment because running into bigger resistance, the phenomenon being difficult to drag to occur when doing reverse transmission。
For achieving the above object, the present invention adopts the following technical scheme that
A kind of harmonic speed reducer that realizes is applied to the machinery of Bidirectional driving, including casing, motor, harmonic reducing mechanism, clamping mechanism and switching mechanism；
Harmonic reducing mechanism includes harmonic speed reducer, harmonic speed reducer power shaft and harmonic speed reducer output shaft；Harmonic speed reducer includes wave producer, flexbile gear and has just taken turns, and wave producer coordinates installation with flexbile gear, firm wheel radial；One end of harmonic speed reducer power shaft is connected with the output shaft of motor, and the other end is installed in wave producer；Harmonic speed reducer output shaft is installed in flexbile gear；
Clamping mechanism, including the first positioning chuck, the 4th positioning chuck and wave producer locating ring；First positioning chuck, it is fixedly installed on casing；4th positioning chuck, it is fixedly installed on flexbile gear；Wave producer locating ring, it is fixedly installed on harmonic speed reducer power shaft and has pin-and-hole；
Switching mechanism, including actuator, hollow axle, the second positioning chuck, the 3rd positioning chuck, movable pulley, shift fork and alignment pin；Hollow shaft sleeve is connected on harmonic speed reducer power shaft and is connected with just wheel, movable pulley is installed on hollow axle by flat key, movable pulley is provided with the second positioning chuck and the 3rd positioning chuck, second positioning chuck and the first positioning chuck are relative, 3rd positioning chuck and the 4th positioning chuck are relative, and shift fork is installed between the second positioning chuck and the 3rd positioning chuck and is fixedly connected with actuator；Alignment pin is installed in the 3rd chuck and corresponding with the pin-and-hole of wave producer。
Described switching mechanism also includes crossed roller bearing, separates wheel and baffle plate；Being socketed with crossed roller bearing on movable pulley successively, separate wheel, be provided with baffle plate in the both sides of roller bearing and separation wheel, shift fork is installed between two baffle plates。
Described first positioning chuck, the 4th positioning chuck all have a groove, described second positioning chuck, the 3rd positioning chuck are equipped with a projection corresponding with groove。
Being provided with a floor in described casing, harmonic speed reducer power shaft runs through and is installed in floor, and the first positioning chuck is fixedly installed in floor away from that one side of motor。
The output shaft of described motor is connected with harmonic speed reducer power shaft by shaft coupling。
Between described harmonic speed reducer power shaft and floor and harmonic speed reducer output shaft bearing is installed between casing。
Described actuator is cylinder。
The beneficial effects of the present invention is:
The present invention realizes harmonic speed reducer and is applied to the machinery not only compact conformation of Bidirectional driving, and harmonic speed reducer can be realized and just be applied to have/reverse pair of gearing system, when avoiding mechanical system to do reverse transmission, produce bigger resistance owing to decelerator gear ratio is big。
Accompanying drawing explanation
Fig. 1 be the present invention realize harmonic speed reducer be applied to Bidirectional driving machinery partly cut open schematic diagram；
Fig. 2 is that apparatus of the present invention partly cut open schematic diagram when doing reverse transmission；
Fig. 3 is that apparatus of the present invention partly cut open schematic diagram when doing forward transmission；
Fig. 4 is the structural representation of switching mechanism；
In figure: 1, motor；2, casing；3, harmonic speed reducer；4, harmonic speed reducer power shaft；5, harmonic speed reducer output shaft；6, the first positioning chuck；7, the second positioning chuck；8, the 3rd positioning chuck；9, the 4th positioning chuck；10, alignment pin；11, actuator；12, crossed roller bearing；13, shaft coupling；14, bearing；15, hollow axle；16, wave producer locating ring；17, movable pulley；18, shift fork；19, wheel is separated；20, baffle plate；21, floor；22, flat key；31, wave producer；32, flexbile gear；33, just take turns。
Detailed description of the invention
Below, in conjunction with accompanying drawing and detailed description of the invention, the present invention is described further:,
As Figure 1-4, the present invention realizes harmonic speed reducer and is applied to the machinery of Bidirectional driving and includes motor 1, harmonic reducing mechanism, clamping mechanism and switching mechanism。
Wherein, harmonic reducing mechanism includes harmonic speed reducer 3, harmonic speed reducer power shaft 4 and harmonic speed reducer output shaft 5；Harmonic speed reducer includes wave producer 31, flexbile gear 32 and has just taken turns 33, and wave producer 31 is installed with flexbile gear 32, just wheel 33 radial fit；One end of harmonic speed reducer power shaft 4 is connected with the output shaft of motor 1, and the other end is installed in wave producer 31；Harmonic speed reducer output shaft 4 is installed in flexbile gear 32；
Clamping mechanism, including the first positioning chuck the 6, the 4th positioning chuck 9 and wave producer locating ring 16；First positioning chuck 6, it is fixedly installed on casing 2；4th positioning chuck 9, it is fixedly installed on flexbile gear 32；Wave producer locating ring 16, it is fixedly installed on harmonic speed reducer power shaft 4 and has pin-and-hole；That is the first positioning chuck the 6, the 4th positioning chuck 9 and wave producer locating ring 16 are all immovable；
Switching mechanism, including actuator 11, hollow axle the 15, second positioning chuck the 7, the 3rd positioning chuck 8, movable pulley 17, shift fork 18 and alignment pin 10；Hollow axle 15 is socketed on harmonic speed reducer power shaft 4 and is connected with just wheel 33, say, that harmonic speed reducer power shaft 4 can rotate relative to hollow axle 15；Movable pulley 17 is installed on hollow axle 15 by flat key, movable pulley 17 is provided with the second positioning chuck 7 and the 3rd positioning chuck 8, owing to movable pulley 17 is installed on hollow axle 15 by flat key 22, that is movable pulley 17 is non-rotatable relative to hollow axle 15, but can move back and forth at the axis direction of hollow axle 15；
Wherein, the second positioning chuck 7 is relative with the first positioning chuck 6, and the 3rd positioning chuck 8 is relative with the 4th positioning chuck 9, and shift fork 18 is installed between the 3rd positioning chuck 8 and the 4th positioning chuck 9 and is fixedly connected with actuator 11；That is, shift fork 18 is under the promotion of actuator 11, the second positioning chuck 7 can be promoted to shift to the first positioning chuck 6 or promotion the 3rd positioning chuck 8 is shifted to the 4th positioning chuck 9 and moved, alignment pin 10 is mounted in the 3rd positioning chuck 8 and corresponding with the pin-and-hole of wave producer 31, so, when the 3rd positioning chuck 8 moves and is connected with the 4th positioning chuck 9 phase, wave producer 31 through wave producer locating ring 16 and is applied a top power by alignment pin 10 meeting, thus realizing the wave producer 31 of harmonic speed reducer 3, flexbile gear 32 and just wheel 33 threes are all connected as a single entity。
When the mechanical system of this device does reverse transmission, namely the mechanical system of this device is with harmonic speed reducer output shaft 5 for input, first the mechanical system of this device is carried out back to zero (dead-center position is set, before switching each positioning chuck every time, each positioning chuck is returned to dead-center position), then actuator 11 action, the 3rd positioning chuck 8 is promoted to move toward the 4th positioning chuck 9 direction, specifically as shown in Figure 2, 3rd positioning chuck 8 is contacted with the 4th positioning chuck 9 linking, simultaneously, the alignment pin 10 being installed on the 3rd positioning chuck 8 will apply a top power through wave producer locating ring 16 wave producer 31 to harmonic speed reducer 3, thus realizing the wave producer 31 of harmonic speed reducer 3, flexbile gear 32 and just wheel 33 threes are all connected as a single entity, that is being equivalent to a gear ratio is the shaft coupling of 1: 1。So, when system dynamic inputs with harmonic speed reducer output shaft 5, system dynamic, through harmonic reducing mechanism, is not affected by its speed reducing ratio so that drag resistance less。
When the mechanical system of this device does forward transmission, namely the mechanical system of this device is with the output shaft of motor 1 for input, in like manner also need the mechanical system of this device is carried out back to zero, then actuator 11 action, the second positioning chuck 7 is promoted to move toward the first positioning chuck 6 direction, specifically as shown in Figure 3, second positioning chuck 7 is contacted with the first positioning chuck 6 linking, now, just wheel 33 and the casing 2 of harmonic speed reducer 3 are fixed as one, that is harmonic speed reducer 3 can play the effect of its deceleration, so, when system dynamic inputs with the output shaft of motor 1, after harmonic reducing mechanism decelerating effect, it is obtained in that bigger output moment of torsion。
Wherein, above-mentioned switching mechanism also includes crossed roller bearing 12, separates wheel 19 and baffle plate 20；Being socketed with crossed roller bearing 12 on movable pulley 17 successively, separate wheel 19, be provided with baffle plate 20 in the both sides of crossed roller bearing 12 and separation wheel 19, shift fork 18 is installed between two baffle plates 20。Owing to being socketed with crossed roller bearing 12 on movable pulley 17 successively and separating wheel 19, so that movable pulley 17 and the independent rotation of shift fork 18。
In addition, in order to ensure can to lock between the first positioning chuck 6 and the second positioning chuck 7 and between the 3rd positioning chuck 8 and the 4th positioning chuck 9, the first above-mentioned positioning chuck the 6, the 4th positioning chuck 9 all has a groove, described second positioning chuck the 7, the 3rd positioning chuck 8 is equipped with a projection corresponding with groove。
Additionally, being provided with a floor 21 in above-mentioned casing 2, harmonic speed reducer power shaft 4 runs through and is installed in floor 21, so, can ensureing the harmonic speed reducer power shaft 4 stationarity when transmission, the first above-mentioned positioning chuck 6 is then fixedly installed in floor 21 away from that one side of motor 1。
Meanwhile, in order to realize the steady transmission between the output shaft of motor 1 and harmonic wave reducer input shaft 4, the output shaft of above-mentioned motor 1 is connected with harmonic speed reducer power shaft 4 by shaft coupling 13。
Wherein, between above-mentioned harmonic speed reducer power shaft 4 and floor 21 and between harmonic speed reducer output shaft 5 and casing 2, bearing 14 is installed。
Wherein, above-mentioned actuator 11 is cylinder, and certain actuator 11 can also adopt the modes such as screw rod transmission, as long as being capable of promoting movable pulley 17 to move。
It will be apparent to those skilled in the art that can technical scheme as described above and design, make other various corresponding changes and deformation, and all these change and deformation all should belong within the protection domain of the claims in the present invention。
Claims (7)
1. one kind realizes harmonic speed reducer and is applied to the machinery of Bidirectional driving, it is characterised in that include casing, motor, harmonic reducing mechanism, clamping mechanism and switching mechanism；
Harmonic reducing mechanism includes harmonic speed reducer, harmonic speed reducer power shaft and harmonic speed reducer output shaft；Harmonic speed reducer includes wave producer, flexbile gear and has just taken turns, and wave producer coordinates installation with flexbile gear, firm wheel radial；One end of harmonic speed reducer power shaft is connected with the output shaft of motor, and the other end is installed in wave producer；Harmonic speed reducer output shaft is installed in flexbile gear；
Clamping mechanism, including the first positioning chuck, the 4th positioning chuck and wave producer locating ring；First positioning chuck, it is fixedly installed on casing；4th positioning chuck, it is fixedly installed on flexbile gear；Wave producer locating ring, it is fixedly installed on harmonic speed reducer power shaft and has pin-and-hole；
Switching mechanism, including actuator, hollow axle, the second positioning chuck, the 3rd positioning chuck, movable pulley, shift fork and alignment pin；Hollow shaft sleeve is connected on harmonic speed reducer power shaft and is connected with just wheel, movable pulley is installed on hollow axle by flat key, movable pulley is provided with the second positioning chuck and the 3rd positioning chuck, second positioning chuck and the first positioning chuck are relative, 3rd positioning chuck and the 4th positioning chuck are relative, and shift fork is installed between the second positioning chuck and the 3rd positioning chuck and is fixedly connected with actuator；Alignment pin is installed in the 3rd chuck and corresponding with the pin-and-hole of wave producer。
2. realize harmonic speed reducer as claimed in claim 1 and be applied to the machinery of Bidirectional driving, it is characterised in that described switching mechanism also includes crossed roller bearing, separates wheel and baffle plate；Being socketed with crossed roller bearing on movable pulley successively, separate wheel, be provided with baffle plate in the both sides of roller bearing and separation wheel, shift fork is installed between two baffle plates。
3. realize harmonic speed reducer as claimed in claim 1 and be applied to the machinery of Bidirectional driving, it is characterized in that, described first positioning chuck, the 4th positioning chuck all have a groove, described second positioning chuck, the 3rd positioning chuck are equipped with a projection corresponding with groove。
4. realize harmonic speed reducer as claimed in claim 1 and be applied to the machinery of Bidirectional driving, it is characterized in that, being provided with a floor in described casing, harmonic speed reducer power shaft runs through and is installed in floor, and the first positioning chuck is fixedly installed in floor away from that one side of motor。
5. realize harmonic speed reducer as claimed in claim 1 and be applied to the machinery of Bidirectional driving, it is characterised in that the output shaft of described motor is connected with harmonic speed reducer power shaft by shaft coupling。
6. realize harmonic speed reducer as claimed in claim 4 and be applied to the machinery of Bidirectional driving, it is characterised in that between described harmonic speed reducer power shaft and floor and harmonic speed reducer output shaft bearing is installed between casing。
7. realizing harmonic speed reducer as claimed in claim 1 and be applied to the machinery of Bidirectional driving, described actuator is cylinder。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610165244.4A CN105697663B (en) | 2016-03-22 | 2016-03-22 | A kind of mechanical device realized harmonic speed reducer and be applied to Bidirectional driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610165244.4A CN105697663B (en) | 2016-03-22 | 2016-03-22 | A kind of mechanical device realized harmonic speed reducer and be applied to Bidirectional driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105697663A true CN105697663A (en) | 2016-06-22 |
| CN105697663B CN105697663B (en) | 2018-01-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610165244.4A Expired - Fee Related CN105697663B (en) | 2016-03-22 | 2016-03-22 | A kind of mechanical device realized harmonic speed reducer and be applied to Bidirectional driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105697663B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106026515A (en) * | 2016-08-16 | 2016-10-12 | 马新全 | Hollow brushless motor and harmonic reducer integrated machine |
| CN111834754A (en) * | 2020-06-22 | 2020-10-27 | 西安工程大学 | Actuator for main reflecting surface active control system of large radio telescope |
| CN117890886A (en) * | 2024-03-15 | 2024-04-16 | 之江实验室 | Scanning equipment and scanning method for realizing two-direction scanning through single-shaft driving |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3910131A (en) * | 1974-03-20 | 1975-10-07 | Eaton Corp | Transmission with snap shift |
| JPS59113341A (en) * | 1982-12-17 | 1984-06-30 | Matsushita Electric Ind Co Ltd | Reduction gear |
| JP2008114303A (en) * | 2006-10-31 | 2008-05-22 | Nitto Seiko Co Ltd | Screw part fastening machine |
| CN102494083A (en) * | 2011-12-23 | 2012-06-13 | 叶羽经 | Constant-speed reverse transfer planetary reducer |
| CN103753518A (en) * | 2014-01-10 | 2014-04-30 | 刘汝发 | Robot teaching by hands |
-
2016
- 2016-03-22 CN CN201610165244.4A patent/CN105697663B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3910131A (en) * | 1974-03-20 | 1975-10-07 | Eaton Corp | Transmission with snap shift |
| JPS59113341A (en) * | 1982-12-17 | 1984-06-30 | Matsushita Electric Ind Co Ltd | Reduction gear |
| JP2008114303A (en) * | 2006-10-31 | 2008-05-22 | Nitto Seiko Co Ltd | Screw part fastening machine |
| CN102494083A (en) * | 2011-12-23 | 2012-06-13 | 叶羽经 | Constant-speed reverse transfer planetary reducer |
| CN103753518A (en) * | 2014-01-10 | 2014-04-30 | 刘汝发 | Robot teaching by hands |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106026515A (en) * | 2016-08-16 | 2016-10-12 | 马新全 | Hollow brushless motor and harmonic reducer integrated machine |
| CN106026515B (en) * | 2016-08-16 | 2018-07-27 | 东莞市锝铼金机器人自动化有限公司 | A kind of hollow brushless motor, harmonic speed reducer all-in-one machine |
| CN111834754A (en) * | 2020-06-22 | 2020-10-27 | 西安工程大学 | Actuator for main reflecting surface active control system of large radio telescope |
| CN117890886A (en) * | 2024-03-15 | 2024-04-16 | 之江实验室 | Scanning equipment and scanning method for realizing two-direction scanning through single-shaft driving |
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| Publication number | Publication date |
|---|---|
| CN105697663B (en) | 2018-01-30 |
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